系統識別號 | U0002-0108201612115700 |
---|---|
DOI | 10.6846/TKU.2016.00028 |
論文名稱(中文) | 硬體實現T-S小腦模型控制器 |
論文名稱(英文) | T-S CMAC Hardware Implementation |
第三語言論文名稱 | |
校院名稱 | 淡江大學 |
系所名稱(中文) | 電機工程學系碩士班 |
系所名稱(英文) | Department of Electrical and Computer Engineering |
外國學位學校名稱 | |
外國學位學院名稱 | |
外國學位研究所名稱 | |
學年度 | 104 |
學期 | 2 |
出版年 | 105 |
研究生(中文) | 林冠儀 |
研究生(英文) | KUAN YI LIN |
學號 | 603460014 |
學位類別 | 碩士 |
語言別 | 英文 |
第二語言別 | |
口試日期 | 2016-07-07 |
論文頁數 | 42頁 |
口試委員 |
指導教授
-
劉寅春
委員 - 邱謙松 委員 - 李世安 |
關鍵字(中) |
T-S 小腦模型控制器 硬體實現 整數運算 |
關鍵字(英) |
T-S CMAC Hardware Implementation Integer Numeric System |
第三語言關鍵字 | |
學科別分類 | |
中文摘要 |
科技在人類發展之下,不斷地向前演進,然而在科技快速演進下,智慧型控制器逐漸成為關鍵角色,由於智慧型控制器的運算大多較為複雜,因此運算效能的優劣將決定該控制器的控制效果,過去的設計上大多透過軟體實現控制器,然而由於軟體的單步執行,減低了整體運算的效果,為了提升控制器之效能,本文透過硬體的方式實現小腦模型控制器。 在硬體實現的同時,將面臨浮點數處理的問題,然而過去的解決方式,是透過IEEE-754的方式來制定浮點數的運算格式,但由於IEEE-754的運算較為複雜,因此將會耗掉較多的運算時間,然而,本文透過整數法的運算處理浮點數的議題。 在實現T-S小腦模型控制器時,以指數運算最為複雜,由於指數運算時較其他運算複雜,過去設計指數硬體時,較多透過記憶體存取的方式做表格化的建置,然而這樣的設計將占用許多寶貴的存取空間,因此本文透過泰勒展開式之運算,將指數的運算近乎完整的呈現出來,最終本文整合各個運算模組,而實現T-S小腦模型控制器的硬體化設計。 |
英文摘要 |
The technology is improving by the human developing. As the technology fast improving, the intelligence control becoming a key point. Because the process of the intelligence control is quite complex, the performance of operating will decide the performance of controller. In the past, the intelligence controller was usually designed by the software system. But the step by step software process will make the performance decreasing. To improve it this thesis use hardware to implement the T-S CAMC. In hardware implementation we need to face the floating point process problem. In the past, the IEEE-754 is the methodology of solution. But the operating of IEEE-754 is complex. Therefore, the process will take a lot of process time. This thesis use integer numeric system to solve this issue. While implement the T-S CMAC, the exponential operating is the most complex part in the process. In the past, look up table wad used as the solution. But the method will cost a lot of memory. Therefore, in this thesis the Tylor series was used to solve the exponential problem. Finally, this thesis connect all of the operating modules and realized the T-S CMAC. |
第三語言摘要 | |
論文目次 |
Contents Abstract in Chinese I Abstract in English II List of Figures V 1 INTRODUCTION 1 1.1 Research Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1.1 Fuzzy Theory . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1.2 Takagi-Sugeno Fuzzy . . . . . . . . . . . . . . . . . . . . . . . . 2 1.1.3 Cerebellar Model Articulation Controller . . . . . . . . . . . . . 2 1.1.4 T-S Fuzzy Model Cerebellar Model Articulation Controller . . . 4 1.1.5 Floating-Point Numeric System . . . . . . . . . . . . . . . . . . 7 1.2 Literature Review . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.3 Problem statement and Motivations . . . . . . . . . . . . . . . . . . . . 8 1.3.1 Problem statement . . . . . . . . . . . . . . . . . . . . . . . . . 8 1.3.2 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2 System Structure 10 2.1 Equipment information . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 2.1.1 FPGA Development main board . . . . . . . . . . . . . . . . . . 10 2.2 Hardware Design TS-CMAC . . . . . . . . . . . . . . . . . . . . . . . . 13 2.2.1 Gaussian function . . . . . . . . . . . . . . . . . . . . . . . . . . 14 2.2.2 Multiple and summation . . . . . . . . . . . . . . . . . . . . . . 14 3 Experiment Result 16 3.1 Error Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 3.2 Gaussian function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 3.3 Weight Update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 3.4 Multiple and summation . . . . . . . . . . . . . . . . . . . . . . . . . . 32 3.5 PWM module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 4 Conclusions and Future works 38 Bibliography 39 List of Figures 1.1 CMAC structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.2 CMAC Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1.3 TS-CMAC structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.4 IEEE754 Formate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 3.1 Error Generating Block Diagram. . . . . . . . . . . . . . . . . . . . . . 16 3.2 Error generator Functional wave form. . . . . . . . . . . . . . . . . . . 17 3.3 Error generator Timing wave form. . . . . . . . . . . . . . . . . . . . . 18 3.4 Gaussian Block Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . 19 3.5 Power Number Module Block Diagram. . . . . . . . . . . . . . . . . . . 19 3.6 Exponential Block Diagram. . . . . . . . . . . . . . . . . . . . . . . . . 20 3.7 Reciprocal Calculating Block Diagram. . . . . . . . . . . . . . . . . . . 20 3.8 Power number in Gaussian Function wave form. . . . . . . . . . . . . . 21 3.9 Power number in Gaussian Timing wave form. . . . . . . . . . . . . . . 22 3.10 Exponential function wave form. . . . . . . . . . . . . . . . . . . . . . . 23 3.11 Exponential Timing wave form. . . . . . . . . . . . . . . . . . . . . . . 24 3.12 Reciprocal of Exponential Functional wave form. . . . . . . . . . . . . . 25 3.13 Reciprocal of Exponential Timing wave form. . . . . . . . . . . . . . . 26 3.14 Gaussian Function wave form. . . . . . . . . . . . . . . . . . . . . . . . 27 3.15 Gaussian Timing wave form. . . . . . . . . . . . . . . . . . . . . . . . . 28 3.16 Update Rule Block Diagram. . . . . . . . . . . . . . . . . . . . . . . . . 29 3.17 Weight update wave form. . . . . . . . . . . . . . . . . . . . . . . . . . 30 3.18 Weight update timing wave form. . . . . . . . . . . . . . . . . . . . . . 31 3.19 Multiple and ADD Block Diagram. . . . . . . . . . . . . . . . . . . . . 32 3.20 Multiple and summation functional wave form. . . . . . . . . . . . . . . 33 3.21 Multiple and summation timing wave form. . . . . . . . . . . . . . . . . 34 3.22 PWM Module Block Diagram. . . . . . . . . . . . . . . . . . . . . . . . 35 3.23 PWM functional wave form. . . . . . . . . . . . . . . . . . . . . . . . . 36 3.24 PWM timing wave form. . . . . . . . . . . . . . . . . . . . . . . . . . . 37 |
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